Point Cloud Library (PCL) 1.12.0
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octree_pointcloud_pointvector.h
1/*
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4 * Point Cloud Library (PCL) - www.pointclouds.org
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36 * $Id$
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38
39#pragma once
40
41#include <pcl/octree/octree_pointcloud.h>
42
43namespace pcl {
44namespace octree {
45
46//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
47/** \brief @b Octree pointcloud point vector class
48 * \note This pointcloud octree class generate an octrees from a point cloud
49 * (zero-copy). Every leaf node contains a list of point indices of the dataset given by
50 * \a setInputCloud.
51 * \note The octree pointcloud is initialized with its voxel resolution. Its bounding
52 * box is automatically adjusted or can be predefined.
53 * \tparam PointT type of point used in pointcloud
54 * \ingroup octree
55 * \author Julius Kammerl (julius@kammerl.de)
56 */
57//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
58template <typename PointT,
59 typename LeafContainerT = OctreeContainerPointIndices,
60 typename BranchContainerT = OctreeContainerEmpty,
61 typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
63: public OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> {
64
65public:
66 // public typedefs for single/double buffering
69 LeafContainerT,
70 BranchContainerT,
72 // typedef OctreePointCloudPointVector<PointT, LeafContainerT, BranchContainerT,
73 // Octree2BufBase<int, LeafContainerT, BranchContainerT> > DoubleBuffer;
74
75 /** \brief Constructor.
76 * \param resolution_arg: octree resolution at lowest octree level
77 * */
78 OctreePointCloudPointVector(const double resolution_arg)
79 : OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>(resolution_arg)
80 {}
81
82 /** \brief Empty class constructor. */
84};
85} // namespace octree
86} // namespace pcl
87
88#define PCL_INSTANTIATE_OctreePointCloudPointVector(T) \
89 template class PCL_EXPORTS pcl::octree::OctreePointCloudPointVector<T>;
Octree pointcloud class
OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > > SingleBuffer
OctreePointCloudPointVector(const double resolution_arg)
Constructor.
A point structure representing Euclidean xyz coordinates, and the RGB color.